Static Hand-eye Calibration Method of Industrial Robot

Due to the complicated calculation of hand-eye relation between industrial robot and camera by traditional methods, a static hand-eye calibration method was proposed. Determined by optical measuring equipment, the transform matrix between the measuring coordinate system and the world coordinate system as well as the flange coordinate system was easily obtained respectively; After the calibration plate being imaged with an industrial camera, the transform matrix between the camera coordinate system and the calibration plate coordinate system was also achieved, so that the hand-eye relation of robot and camera was fast calculated with four matrices. The experiment showed that the error was less than 1.5mm while comparing the calibration result with that obtained by traditional method. It is not necessary to operate or run the robot during the whole calibration process. This method is reliable, simple and accurate, and provides an alternative to examine the calibration accuracy by general calibration method.